F33137 — Encoder 3: Fault when determining the position (singleturn)

F33137 reports that a position determination fault has occurred in the DRIVE-CLiQ encoder connected as Encoder 3: the encoder itself detected the fault while determining its singleturn position and reports it to the drive. Which condition inside the encoder tripped the fault is coded bit by bit in the fault value r0949, and the coding depends on the encoder version. The S120/S150 manual decodes the value for encoder versions 8, 11, 12 and 14, while the G130/G150 manual describes only version 08 (bit 27 = 1). For an encoder version that is not described, the manual refers you to the encoder manufacturer for the bit coding.

• A position determination fault occurred inside the DRIVE-CLiQ encoder; the encoder reports the condition to the drive as a bit-coded fault value.
• The coded causes are internal encoder conditions: monitoring of the incremental signals, LED monitoring, temperature outside the limit values, errors of the safety status display (F1/F2) and of the safety channel, rotation and track errors, errors in the internal position data transport, memory and absolute position errors, power supply monitoring and internal hardware or FPGA errors.
• Which of these applies is decided by the encoder version (yy) and the set bits (xxxxxx) in the fault value.

1. Read the fault value in r0949 and determine the detailed cause of the fault from the bit coding that applies to the encoder version reported there.
2. If required, replace the DRIVE-CLiQ encoder.

The drive writes the fault cause to r0949 as a binary value with the pattern yyxxxxxx (hex): yy identifies the encoder version, xxxxxx contains the fault cause as a bit pattern. Because the coding changes from version to version, read yy first. The bits that directly concern the singleturn position determination reported by this fault are:

• yy = 8 (0000 1000 bin): Bit 18 — monitoring of the single-step capability singleturn from the Safety channel.
• yy = 11 (0000 1011 bin): Bit 2 — position word 1, error when aligning the incremental track signals with the absolute value; Bit 11 — position word 1 status bit, singleturn position OK.
• yy = 12 (0000 1100 bin): Bit 8 — encoder fault; Bit 10 — error in the internal position data transport.
• yy = 14 (0000 1110 bin): Bit 5 — position word 1, timeout of the absolute value or error when determining the position (singleturn); Bit 21 — position word 2, position determination error (singleturn).

The manuals decode further bits of these versions in the same way — signal and LED monitoring, temperature outside the limit values, safety status display F1/F2, safety channel, multiturn, power supply and internal hardware or FPGA errors — so evaluate the complete fault value, not only the bits listed here. The G130/G150 manual covers only version 08 hex (bit 27 = 1), whose bits describe signal monitoring, LED monitoring, safety status display F1/F2, the multiturn and the temperature.

• r0949 — fault value: read it (interpret binary) to identify the encoder version and the bit-coded cause of this position determination fault.

Once the cause has been remedied, the fault is acknowledged with a pulse inhibit: bring the drive into the pulse-inhibited state and acknowledge the fault there. The drive can then be restarted.